went through the preferences and renamed them so stuff is more cohesive and everything makes more sense. moved some prefs to constants too (remember only make it a preference if it needs to be tuned). also updated some values so the robot should actually work without nt vals
closes #7
closes #8
went through the preferences and renamed them so stuff is more cohesive and everything makes more sense. moved some prefs to constants too (remember only make it a preference if it needs to be tuned). also updated some values so the robot should actually work without nt vals closes #7 closes #8